US11577674B2 - Vehicle electrical power system - Google Patents

Vehicle electrical power system Download PDF

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Publication number
US11577674B2
US11577674B2 US16/924,313 US202016924313A US11577674B2 US 11577674 B2 US11577674 B2 US 11577674B2 US 202016924313 A US202016924313 A US 202016924313A US 11577674 B2 US11577674 B2 US 11577674B2
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Prior art keywords
powernet
primary
vehicle
electrical power
power system
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US16/924,313
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US20220009429A1 (en
Inventor
Michael Adel Awad Alla
Sami Dagher
Bo Wu
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Ford Global Technologies LLC
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Ford Global Technologies LLC
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Priority to US16/924,313 priority Critical patent/US11577674B2/en
Assigned to FORD GLOBAL TECHNOLOGIES, LLC reassignment FORD GLOBAL TECHNOLOGIES, LLC ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Dagher, Sami, WU, BO, Awad Alla, Michael Adel
Priority to DE102021117052.4A priority patent/DE102021117052A1/de
Priority to CN202110751124.3A priority patent/CN113910915A/zh
Publication of US20220009429A1 publication Critical patent/US20220009429A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L9/00—Electric propulsion with power supply external to the vehicle
    • B60L9/02—Electric propulsion with power supply external to the vehicle using dc motors
    • B60L9/04—Electric propulsion with power supply external to the vehicle using dc motors fed from dc supply lines
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0067—Converter structures employing plural converter units, other than for parallel operation of the units on a single load
    • H02M1/008—Plural converter units for generating at two or more independent and non-parallel outputs, e.g. systems with plural point of load switching regulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L1/00—Supplying electric power to auxiliary equipment of vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/20—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by converters located in the vehicle
    • B60L53/22—Constructional details or arrangements of charging converters specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/36—Means for starting or stopping converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/10—DC to DC converters
    • B60L2210/12—Buck converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/547—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J2207/00—Indexing scheme relating to details of circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J2207/20—Charging or discharging characterised by the power electronics converter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • Types of power systems include a conventional powertrain including an internal-combustion engine coupled to a transmission that transfers rotational motion to wheels; an electric powertrain including batteries, an electric motor, and a transmission that transfers rotational motion to the wheels; and a hybrid powertrain including elements of the conventional powertrain and the electric powertrain.
  • an alternator transforms rotational kinetic energy from the engine into electrical energy for the electrical loads.
  • a DC/DC converter may convert between high voltage electrical energy for propelling the vehicle and low-voltage energy for the electrical loads.
  • FIG. 1 is a block diagram of an example vehicle
  • FIG. 2 is a circuit diagram of an example electrical power system for the vehicle of FIG. 1 .
  • FIG. 3 is a flow diagram of an example process for responding to a vehicle power event within the electrical power system of FIG. 2 .
  • FIG. 4 is a flow diagram of an example process for putting the vehicle of FIG. 1 in a minimal risk condition.
  • An electrical power system for a vehicle includes a base powernet and a primary powernet electrically connected to primary safety critical loads.
  • a switch is disposed between the base powernet and the primary powernet. The switch is configured to transition between a closed state that electrically connects the base powernet to the primary powernet and an open state that disconnects the base powernet from the primary powernet.
  • the primary safety critical loads include at least one of a braking system or steering.
  • the electrical power system includes a high voltage powernet that electrically connects an autonomous vehicle system to a high voltage battery.
  • the electrical power system includes a DC/DC converter that is disposed between the high voltage powernet and the primary powernet.
  • the DC/DC converter converts a high voltage direct current from the high voltage battery to a low-voltage direct current for the primary powernet.
  • the electrical power system includes a secondary powernet electrically connected to secondary safety critical loads.
  • the electrical power system includes a DC/DC converter that is disposed between the high voltage powernet and the secondary powernet.
  • the DC/DC converter converts a high voltage direct current from the high voltage battery to a low-voltage direct current for the secondary powernet.
  • the secondary safety critical loads include at least one of a backup braking system or backup steering.
  • the electrical power system includes a control module communicatively coupled to the switch, wherein the control module causes the switch to transition from the closed state to the open state when a voltage at the primary powernet is below a predetermined charge level.
  • control module is programmed to instruct a vehicle computer to put the vehicle in a minimal risk condition in response to the voltage of the primary powernet being below the predetermined charge level.
  • putting the vehicle in the minimal risk condition includes driving the vehicle to a roadside.
  • putting the vehicle in the minimal risk condition includes initiating a handover to a human driver.
  • the switch includes at least one of a relay or a transistor.
  • a control module includes a processor and a memory storing processor-executable instructions.
  • the processor is programmed to (1) instruct an autonomous-driving computer of a vehicle to put the vehicle in a minimal risk condition and (2) cause a switch to transition from a closed state to an open state in response to a signal indicating a voltage of a primary powernet is below a predetermined charge level.
  • An electrical power system of the vehicle includes a base powernet and the primary powernet electrically connected to primary safety critical loads; The switch is disposed between the base powernet and the primary powernet, wherein the switch is configured to transition between the closed state that electrically connects the base powernet to the primary powernet and the open state that disconnects the base powernet from the primary powernet.
  • the primary safety critical loads include at least one of a braking system or steering.
  • the electrical power system further includes a high voltage powernet that electrically connects an autonomous vehicle system to a high voltage battery.
  • the electrical power system further includes a DC/DC converter disposed between the high voltage powernet and the primary powernet.
  • the DC/DC converter converts a high voltage direct current from the high voltage battery to a low-voltage direct current for the primary powernet.
  • the electrical power system further includes a secondary powernet electrically connected to secondary safety critical loads.
  • the electrical power system further includes a DC/DC converter disposed between the high voltage powernet and the secondary powernet.
  • the DC/DC converter converts a high voltage direct current from the high voltage battery to a low-voltage direct current for the secondary powernet.
  • the secondary safety critical loads include at least one of a backup braking system or backup steering.
  • putting the vehicle in the minimal risk condition includes at least one of driving the vehicle to a roadside or initiating a handover to a human driver.
  • vehicles can include up to three powernets that provide electrical power to one or more vehicle loads connected to the respective powernets.
  • the time duration allowed to execute a fallback maneuver event is can be limited.
  • the present disclosure discloses an electrical power system that reduce the number of powernets within an autonomous vehicle.
  • the electrical power system can include a switch positioned between the primary powernet of the autonomous vehicle and a base powernet of the autonomous vehicle as described in greater detail herein.
  • FIG. 1 illustrates an example vehicle 32 systems according to an example implementation.
  • the vehicle 32 may be an autonomous vehicle.
  • a vehicle computer 50 can be configured to operate the vehicle 32 independently of the intervention of a human driver, completely or to a lesser degree.
  • the vehicle computer 50 may be programmed to operate a propulsion 52 , a brake system 54 , a steering 56 , and/or other vehicle systems.
  • autonomous operation means the vehicle computer 50 controls the propulsion 52 , brake system 54 , and steering 56 without input from a human driver
  • semi-autonomous operation means the vehicle computer 50 controls one or two of the propulsion 52 , brake system 54 , and steering 56 and a human driver controls the remainder
  • nonautonomous operation means a human driver controls the propulsion 52 , brake system 54 , and steering 56 .
  • the vehicle computer 50 may be a microprocessor-based computer.
  • the vehicle computer 50 includes a processor, memory, etc.
  • the memory of the vehicle computer 50 includes memory for storing instructions executable by the processor as well as for electronically storing data and/or databases.
  • the vehicle computer 50 may transmit and receive data through a communications network 58 such as a controller area network (CAN) bus, Ethernet, WiFi, Local Interconnect Network (LIN), onboard diagnostics connector (OBD-II), and/or by any other wired or wireless communications network.
  • a communications network 58 such as a controller area network (CAN) bus, Ethernet, WiFi, Local Interconnect Network (LIN), onboard diagnostics connector (OBD-II), and/or by any other wired or wireless communications network.
  • the vehicle computer 50 may be communicatively coupled to the propulsion 52 , the brake system 54 , the steering 56 , sensors 60 , a hybrid-powertrain control module 62 , a battery-energy control module 64 , and other components via the communications network 58 .
  • the propulsion 52 of the vehicle 32 generates energy and can translate the energy into motion of the vehicle 32 .
  • the propulsion 52 may be a known vehicle propulsion subsystem, for example, a conventional powertrain including an internal-combustion engine coupled to a transmission that transfers rotational motion to wheels; an electric powertrain including batteries, an electric motor, and a transmission that transfers rotational motion to the wheels; a hybrid powertrain including elements of the conventional powertrain and the electric powertrain (as shown in FIG. 2 ); or any other type of propulsion. If hybrid, the propulsion 52 may include a powertrain arranged in any hybrid manner.
  • the propulsion 52 can include an electronic control unit (ECU) or the like, such as the hybrid-powertrain control module 62 , that is in communication with and receives input from the vehicle computer 50 and/or a human driver.
  • the human driver may control the propulsion 52 via, e.g., an accelerator pedal and/or a gear-shift lever.
  • the brake system 54 is typically a known vehicle braking subsystem and can resist the motion of the vehicle 32 to thereby slow and/or stop the vehicle 32 .
  • the brake system 54 may include friction brakes such as disc brakes, drum brakes, band brakes, etc.; regenerative brakes; any other suitable type of brakes; or a combination.
  • the brake system 54 can include an electronic control unit (ECU) or the like that is in communication with and receives input from the vehicle computer 50 and/or a human driver. The human driver may control the brake system 54 via, e.g., a brake pedal.
  • ECU electronice control unit
  • the steering 56 is typically a known vehicle steering subsystem and controls the turning of the wheels.
  • the steering 56 may be a rack-and-pinion system with electric power-assisted steering, a steer-by-wire system, such as are both known, or any other suitable system.
  • the steering 56 can include an electronic control unit (ECU) or the like that is in communication with and receives input from the vehicle computer 50 and/or a human driver.
  • the human driver may control the steering 56 via, e.g., a steering wheel.
  • the sensors 60 may provide data about operation of the vehicle 32 , for example, wheel speed, wheel orientation, and engine and transmission data (e.g., temperature, fuel consumption, etc.).
  • the sensors 60 may detect the location and/or orientation of the vehicle 32 .
  • the sensors 60 may include global positioning system (GPS) sensors; accelerometers such as piezo-electric or microelectromechanical systems (MEMS); gyroscopes such as rate, ring laser, or fiber-optic gyroscopes; inertial measurements units (IMU); and magnetometers.
  • GPS global positioning system
  • MEMS microelectromechanical systems
  • gyroscopes such as rate, ring laser, or fiber-optic gyroscopes
  • IMU inertial measurements units
  • magnetometers magnetometers.
  • the sensors 60 may detect the external world, e.g., objects and/or characteristics of surroundings of the vehicle 32 , such as other vehicles, road lane markings, traffic lights and/or signs, pedestrian
  • the sensors 60 may include radar sensors, scanning laser range finders, light detection and ranging (LIDAR) devices, and image processing sensors such as cameras.
  • the sensors 60 may include communications devices, for example, vehicle-to-infrastructure (V2I) or vehicle-to-vehicle (V2V) devices.
  • V2I vehicle-to-infrastructure
  • V2V vehicle-to-vehicle
  • FIG. 2 illustrates an example electrical power system 30 for the vehicle 32 .
  • the electrical power system 30 includes a high voltage powernet 34 , a primary powernet 36 , a secondary powernet 38 , and a base powernet 51 .
  • Each powernet 34 , 36 , 38 , 51 is configured to provide electrical power to the various sensors 60 within the vehicle 32 .
  • the electrical power system 30 provides high reliability.
  • the electrical power system 30 may qualify for an ASIL B rating, a rating on the Automotive Safety Integrity Level scale defined by ISO 26262, propagated by the International Organization for Standardization.
  • the hybrid-powertrain control module (HPCM) 62 is a microprocessor-based controller.
  • the hybrid-powertrain control module 62 may include a processor, memory, etc.
  • the memory of the hybrid-powertrain control module 62 may include memory for storing instructions executable by the processor as well as for electronically storing data and/or databases.
  • the hybrid-powertrain control module 62 may be in communication with and may control components of the propulsion 52 such as an engine, transmission, etc. (not shown), among other functions.
  • the battery-energy control module (BECM) 64 is a microprocessor-based controller.
  • the battery-energy control module 64 may include a processor, memory, etc.
  • the memory of the battery-energy control module 64 may include memory for storing instructions executable by the processor as well as for electronically storing data and/or databases.
  • the battery-energy control module 64 may be in communication with and may monitor and control a high voltage battery 66 , one or more vehicle batteries 68 , etc., among other operations. It is understood that the present disclosure illustrates an example implementation of the battery-energy control module 64 . As such, the battery-energy control module 64 may be implemented in other configurations as well.
  • the battery-energy control module 64 is configured to manage only the high voltage battery 66 .
  • the vehicle 32 may include a Low Voltage Power Management System (LVPMS) that coordinates (e.g., manages and controls) powernets 36 , 38 described below.
  • LPMS Low Voltage Power Management System
  • the high voltage battery 66 may have a voltage on the order of 250 volts.
  • the high voltage battery 66 may be any type suitable for providing high voltage electricity for operating the vehicle 32 , e.g., lithium-ion, lead-acid, etc.
  • the high voltage battery 66 may be electrically connected to the hybrid-powertrain control module 62 and to DC/DC converters 70 via the battery-energy control module 64 .
  • the DC/DC converters 70 may convert between high voltage direct current from the high voltage battery 66 and low-voltage direct current flowing along a primary powernet 36 and a secondary powernet 38 .
  • the low-voltage direct current may be, e.g., 12 volts or 48 volts.
  • the powernets 36 , 38 which comprise nodes within the electrical power system 30 , each electrically connect one of the DC/DC converters 70 , one of the vehicle batteries 68 , and a plurality of loads 48 , 52 .
  • a node is defined as a point on a circuit where components of the circuit meet.
  • the vehicle batteries 68 are electrically connected to the respective powernets 36 , 38 .
  • the vehicle batteries 68 may be low-voltage batteries, e.g., 12 volts or 48 volts.
  • the vehicle batteries 68 may be any suitable type of battery for providing electricity to the loads 48 , e.g., lithium-ion, lead-acid, etc.
  • a battery-monitoring system may be connected to each of the vehicle batteries 68 .
  • the battery-monitoring systems may transmit the states of charge of the vehicle batteries 68 to, e.g., the battery-energy control module 64 .
  • the loads 48 , 51 , 52 are components of the vehicle 32 that draw electrical power to operate.
  • the electrical power system 30 includes autonomous vehicle system (AVS) 80 and an object detection maintenance control (ODMC) system 82 , which are connected to the high voltage battery 66 via the high voltage powernet 34 .
  • the AVS 80 and the ODMC system 82 may include respective ECUs that operate the respective systems.
  • the AVS 80 may include devices that perform object detection, object classification, and/or route planning for the vehicle 32 .
  • the ODMC 82 system may include components that determine whether any devices of the AVS are obfuscated, e.g., debris or water on a camera lens, and initiate actions to remove the obfuscating object. For instance, the ODMS 82 may initiate a wiper or initiate air pressure to remove the obfuscating object from the AVS 80 device.
  • the primary safety critical loads 48 are powered via the primary powernet 36 .
  • the primary safety critical loads 48 may include, but are not limited to, the brake system 54 and the steering 56 .
  • the primary powernet 36 can also selectively provide power to the base powernet 50 .
  • one or more switches 54 are positioned between the primary powernet 36 and the base powernet 51 .
  • the one or more switches 54 may be operated by the vehicle computer 50 , the hybrid-powertrain control module 62 , and/or the battery-energy control module 64 .
  • the one or more switches 54 are configured switch between an open state. e.g., open circuit, and a closed state, e.g., closed circuit. When the one or more switches 54 are in the open state, the one or more switches 54 at least substantially prevent the flow of current between the primary powernet 36 and the base powernet 51 . When the one or more switches 54 are in the closed state, the one or more switches allow the flow of current between the primary powernet 36 and the base powernet 51 such that the primary powernet 36 can power the base powernet 51 devices.
  • the one or more switches 54 may initially be in a closed state such that the base powernet 51 is electrically connected to the primary powernet 36 .
  • the hybrid-powertrain control module 62 or the battery-energy control module 64 may cause the switches 54 to transition from the closed state to the open state to conserve power distribution within the electrical power system 30 .
  • the vehicle power event may comprise, but is not limited to, the hybrid-powertrain control module 62 or the battery-energy control module 64 receiving signals indicating that one or more batteries within the vehicle 32 are below a predetermined charge level, e.g., a state of charge.
  • the vehicle computer 50 may determine that the electrical power system 30 is experiencing a failure based on one or more signals indicating an electrical charge within the electrical power system 30 is below the predetermined charge level.
  • the predetermined charge level may correspond to a state in which one or more batteries within the vehicle 32 puts the vehicle 32 in a minimal risk condition.
  • that term has the meaning accorded by the National Highway Traffic Safety Administration (NHTSA) and the Society of Automotive Engineers (SAE): “‘Minimal risk condition’ means low-risk operating condition that an automated driving system automatically resorts to either when a system fails or when the human driver fails to respond appropriately to a request to take over the dynamic driving task.” (U.S. Dept.
  • the minimal risk condition may be initiating a handover to the human driver or autonomously driving the vehicle 32 to a halt at a roadside, i.e., stopping the vehicle 32 outside active lanes of traffic.
  • a fallback maneuver can be defined as the vehicle computer 50 transmitting a signal to the propulsion 52 to reduce the speed of the vehicle 32 , transmitting a signal to the brake system 54 to actuate the brakes, and/or transmitting a signal to the steering 56 to alter a course of the vehicle 32 .
  • the base powernet 51 provides to one or more devices within the vehicle 32 .
  • the base powernet 51 can provide power to the base vehicle modules, such as engine control modules, body control modules, or the like.
  • the secondary safety critical loads 52 may include, but are not necessarily limited to, a secondary brake system, e.g., a backup brake system, a secondary steering, e.g., a backup steering, or the like.
  • the one or more switches 54 may comprise any suitable electrical component that can disconnect or connect a conducting path between the primary powernet 36 and the base powernet 51 .
  • the one or more switches 54 may comprise a relay, such as a solid-state relay (SSR), a transistor, such as a metal-oxide-semiconductor field-effect transistor (MOSFET), or the like.
  • SSR solid-state relay
  • MOSFET metal-oxide-semiconductor field-effect transistor
  • FIG. 3 is a process flow diagram illustrating an exemplary process 300 for responding to a failure of the electrical power system 30 .
  • the memory of, e.g., the hybrid-powertrain control module 62 or the battery-energy control module 64 stores executable instructions for performing the steps of the process 300 .
  • one of the control modules 62 , 64 instructs the vehicle computer 50 to put the vehicle 32 in a minimal risk condition.
  • the process 300 begins in a block 305 , in which the one of the control modules 62 , 64 receives a signal indicative of an electrical charge within the electrical power system 30 .
  • the signal may be provided by one or more batteries 68 .
  • the one of the control modules 62 , 64 determines whether a voltage V batt of the primary powernet 36 is below the predetermined charge level. If the voltage V batt is above the predetermined charge level, the process 300 returns to the block 305 to continue monitoring the voltage V batt .
  • the one of the control modules 62 , 64 instructs the vehicle computer 50 to put the vehicle 32 in a minimal risk condition and causes the one or more switches 54 to transition from the closed state to the open state to disconnect the electrical path between the primary powernet 36 and the base powernet 51 .
  • the process 400 ends.
  • FIG. 4 is a process flow diagram illustrating an exemplary process 400 for putting the vehicle 32 in a minimal risk condition.
  • the memory of the vehicle computer 50 stores executable instructions for performing the steps of the process 500 .
  • the vehicle computer 50 puts the vehicle 32 in a minimal risk condition in response to an instruction from another vehicle subsystem, such as from the hybrid-powertrain control module 62 or the battery-energy control module 64 , that the vehicle computer 50 do so.
  • the process 400 begins in a block 405 , in which the vehicle computer 50 receives an instruction from one of the vehicle subsystems, such as from the hybrid-powertrain control module 62 or the battery-energy control module 64 as described with respect to the block 315 above.
  • the vehicle computer 50 determines whether the instruction is to put the vehicle 32 in a minimal risk condition by reading the instruction. If the instruction is to perform some action other than putting the vehicle 32 in a minimal risk condition, the process 400 returns to the block 405 to continue receiving instructions.
  • the vehicle computer 50 puts the vehicle 32 in a minimal risk condition.
  • minimal risk condition means low-risk operating condition that an automated driving system automatically resorts to either when a system fails or when the human driver fails to respond appropriately to a request to take over the dynamic driving task.”
  • the minimal risk condition may be initiating a handover to the human driver or autonomously driving the vehicle 32 to a roadside, i.e., stopping the vehicle 32 outside active lanes of traffic.
  • the vehicle computer 50 may store programming for only one type of minimal risk condition, or the type of minimal risk condition may be selected based on. e.g., driving context, e.g., handing operation of the vehicle 32 over to a human driver on low-speed surface streets and autonomously driving the vehicle 32 to a roadside on freeways.
  • the vehicle computer 50 may perform the minimal risk condition, e.g., navigate to a stop on a road shoulder, by using known autonomous-operation algorithms to control the propulsion 52 , the brake system 54 , and the steering 56 .
  • the process 400 ends.
  • the computing systems and/or devices described may employ any of a number of computer operating systems, including, but by no means limited to, versions and/or varieties of the Ford Sync® application, AppLink/Smart Device Link middleware, the Microsoft Automotive® operating system, the Microsoft Windows® operating system, the Unix operating system (e.g., the Solaris® operating system distributed by Oracle Corporation of Redwood Shores. Calif.), the AIX UNIX operating system distributed by International Business Machines of Armonk, N.Y., the Linux operating system, the Mac OSX and iOS operating systems distributed by Apple Inc. of Cupertino, Calif., the BlackBerry OS distributed by Blackberry, Ltd. of Waterloo, Canada, and the Android operating system developed by Google. Inc.
  • the Ford Sync® application AppLink/Smart Device Link middleware
  • the Microsoft Automotive® operating system the Microsoft Windows® operating system
  • the Unix operating system e.g., the Solaris® operating system distributed by Oracle Corporation of Redwood Shores. Calif.
  • the AIX UNIX operating system distributed by International Business Machines of
  • computing devices include, without limitation, an on-board vehicle computer, a computer workstation, a server, a desktop, notebook, laptop, or handheld computer, or some other computing system and/or device.
  • Computing devices generally include computer-executable instructions, where the instructions may be executable by one or more computing devices such as those listed above.
  • Computer executable instructions may be compiled or interpreted from computer programs created using a variety of programming languages and/or technologies, including, without limitation, and either alone or in combination, JavaTM, C, C++, Matlab, Simulink, Stateflow, Visual Basic, Java Script, Perl, HTML, etc. Some of these applications may be compiled and executed on a virtual machine, such as the Java Virtual Machine, the Dalvik virtual machine, or the like.
  • a processor e.g., a microprocessor receives instructions.
  • a file in a computing device is generally a collection of data stored on a computer readable medium, such as a storage medium, a random access memory, etc.
  • a computer-readable medium includes any non-transitory (e.g., tangible) medium that participates in providing data (e.g., instructions) that may be read by a computer (e.g., by a processor of a computer).
  • a medium may take many forms, including, but not limited to, non-volatile media and volatile media.
  • Non-volatile media may include, for example, optical or magnetic disks and other persistent memory.
  • Volatile media may include, for example, dynamic random access memory (DRAM), which typically constitutes a main memory.
  • Such instructions may be transmitted by one or more transmission media, including coaxial cables, copper wire and fiber optics, including the wires that comprise a system bus coupled to a processor of an ECU.
  • Computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD-ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read.
  • Databases, data repositories or other data stores described herein may include various kinds of mechanisms for storing, accessing, and retrieving various kinds of data, including a hierarchical database, a set of files in a file system, an application database in a proprietary format, a relational database management system (RDBMS), etc.
  • Each such data store is generally included within a computing device employing a computer operating system such as one of those mentioned above, and are accessed via a network in any one or more of a variety of manners.
  • a file system may be accessible from a computer operating system, and may include files stored in various formats.
  • An RDBMS generally employs the Structured Query Language (SQL) in addition to a language for creating, storing, editing, and executing stored procedures, such as the PL/SQL language mentioned above.
  • SQL Structured Query Language
  • system elements may be implemented as computer-readable instructions (e.g., software) on one or more computing devices (e.g., servers, personal computers, etc.), stored on computer readable media associated therewith (e.g., disks, memories, etc.).
  • a computer program product may comprise such instructions stored on computer readable media for carrying out the functions described herein.

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  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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WO2016012134A1 (de) 2014-07-21 2016-01-28 Robert Bosch Gmbh Vorrichtung zur versorgung zumindest eines verbrauchers
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